一类不确定性离散非线性重复过程的迭代学习容错控制  

Iterative Learning Fault-tolerant Control for a Class of Uncertain Nonlinear Discrete Repetitive Processes

作　　者：陶洪峰 沈建强 杨慧中 TAO Hongfeng;SHEN Jianqiang;YANG Huizhong(Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学教育部轻工过程先进控制重点实验室,江苏无锡214122

出　　处：《信息与控制》2019年第1期88-96,共9页Information and Control

基　　金：国家自然科学基金资助项目(61773181;61203092);江苏省产学研前瞻性联合研究项目(BY2015019-21);高等学校学科创新引智计划(B12018);江苏高校优势学科建设工程项目资助;中央高校基本科研业务费专项资金资助项目(JUSRP51733B)

摘　　要：针对一类具有非线性和执行器故障的重复运行不确定离散系统,提出了一种迭代学习鲁棒容错控制算法.首先通过定义执行器故障系数矩阵,将迭代学习控制过程转化为等价形式的不确定性非线性重复过程模型,然后基于混合李亚普若夫函数方法讨论非线性重复过程在时间轴和批次轴两个维度上的稳定性,并以线性矩阵不等式形式给出鲁棒容错控制器存在的充分条件和设计方法,同时保证系统正常和执行器故障情形下系统的容错稳定性能.最后,单杆机械手系统的输出跟踪控制仿真结果验证了本文算法的有效性.For a class of uncertain discrete repetitive systems with nonlinearity and actuator faults,we propose an iterative learning fault-tolerant control algorithm.First,we transform the iterative learning control process into an equivalent uncertain nonlinear repetitive process model by defining an actuator fault coefficient matrix.Then,we discuss the stability of the nonlinear repetitive process on time and trial axes,based on the mixed Lyapunov function method,and provide the sufficient condition for the stability of the repetitive control system in terms of the linear matrix inequality technology.The fault-tolerant performance of the system can be guaranteed both in normal and failure actuator conditions.The simulation results of the output tracking of a singlelink manipulator system reveal the effectiveness of the algorithm.

关 键 词：非线性重复过程 执行器故障 迭代学习控制 不确定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]